Information

Instructor: Dominic Jud, Martin Wermelinger, Marco Hutter Title: Programming for Robotics - Introduction to ROS Refererences

• Lecture
• ROS Wiki
• Tutorials

I'm going to study and summarize this course. Every picture and content belong to lectures. Date: May 24, 2020

Overview

• ROS services
• ROS actions (actionlib)
• ROS time
• ROS bags
• Debugging strategies

ROS Services

• Request/response communication between nodes is realized with services
• Similar in structure to messages
  • defined in *.srv files
• Commend
• List available services

rosservice list

• Show the type of a service

rosservice type /service_name

• Call a service with the request contents

rosservice call /service_name args

ROS Actions

• Similar to service calls
• Similar in structure to services
• defined in *.action files
• Provide possibility to
  • Cancel the task (preempt)
  • Receive the feedback on the progress
• Best way to implement interfaces to time extended, goal oriented behaviors

Comparison